Automatic control alignment crane pipe

Abstract

The utility model relates to the technical field of alignment crane pipes, and discloses an automatic control alignment crane pipe which comprises a feeding pipe, the top end of the feeding pipe is fixedly connected with a first rotating connector, the outer portion of the first rotating connector is fixedly connected with a first servo motor, the driving end of the first rotating connector is fixedly connected with an inner arm, and the driving end of the first rotating connector is fixedly connected with a second servo motor. The top end of the inner arm is fixedly connected with a second rotating connector, the exterior of the second rotating connector is fixedly connected with a second servo motor, the driving end of the second rotating connector is fixedly connected with a middle arm, the front end of the middle arm is fixedly connected with a third rotating connector, and the exterior of the third rotating connector is fixedly connected with a third servo motor. The driving end of the third rotating connector is fixedly connected with an outer arm. According to the utility model, the servo motor I drives the rotary joint I to drive the inner arm to rotate, the servo motor II drives the rotary joint II to drive the middle arm to rotate, and the servo motor III drives the rotary joint III to drive the outer arm to rotate, so that the effect of automatically controlling the alignment of the crane pipe is realized.

Description

Technical Field

[0001] This utility model relates to the field of positioning arm technology, and in particular to automatic control positioning arm. Background Technology

[0002] An loading arm (or arms) is a piping system used for loading and unloading liquids or gases. It typically features a flexible telescopic boom and an adjustable angle, enabling the transfer of fluid from one container (such as an oil tank, ship, or storage tank) to another container or piping system. Loading arms are commonly found in ports, oil fields, and chemical plants, primarily for the transport and handling of liquids such as oils and chemicals. Their design allows for easy docking and connection to the target container, and they incorporate leak-proof and safe operation features to ensure the safety and efficiency of the fluid transfer process.

[0003] Some existing loading arms cannot automatically align during use, requiring workers to manually adjust their position, increasing workload and posing risks of liquid splashing and working at heights, thus threatening worker safety. Therefore, an automatic control loading arm alignment system is proposed to solve these problems. Utility Model Content

[0004] To overcome the above deficiencies, this utility model provides an automatic control alignment arm, which aims to improve the problem that the arm cannot be automatically aligned in the prior art.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An automatic control positioning arm includes a feed pipe, a rotary joint 1 fixedly connected to the top end of the feed pipe, a servo motor 1 fixedly connected to the outside of the rotary joint 1, an inner arm fixedly connected to the drive end of the rotary joint 1, a rotary joint 2 fixedly connected to the top end of the inner arm, a servo motor 2 fixedly connected to the outside of the rotary joint 2, a middle arm fixedly connected to the drive end of the rotary joint 2, a rotary joint 3 fixedly connected to the front end of the middle arm, a servo motor 3 fixedly connected to the outside of the rotary joint 3, an outer arm fixedly connected to the drive end of the rotary joint 3, a cylinder bracket fixedly connected to the rear end of the outer arm, a spring cylinder rotatably connected inside the cylinder bracket, a limit plate slidably connected to the drive end of the spring cylinder, a guide assembly rotatably connected to the rear end of the outer arm, and a support assembly fixedly connected to the right end of the feed pipe.

[0007] As a further description of the above technical solution:

[0008] The guide assembly includes a connector, a dangling tube rotatably connected inside the connector, a valve rotatably connected inside the dangling tube, and an explosion-proof camera fixedly connected to the outside of the dangling tube. As a further description of the above technical solution:

[0009] The support assembly includes an arm-mounted column, a fixing frame is fixedly connected to the left end of the arm-mounted column, a support frame is fixedly connected to the top end of the arm-mounted column, and a support shaft is rotatably connected to the left end of the support frame.

[0010] As a further description of the above technical solution:

[0011] The top end of the feed tube is rotatably connected to the bottom end of the inner arm, and the top end of the inner arm is rotatably connected to the bottom end of the middle arm.

[0012] As a further description of the above technical solution:

[0013] The front end of the middle arm is rotatably connected to the rear end of the outer arm, and the drive end of the servo motor is rotatably connected inside the rotary joint.

[0014] As a further description of the above technical solution:

[0015] The drive end of the second servo motor is rotatably connected inside the second rotary joint, and the drive end of the third servo motor is rotatably connected inside the third rotary joint.

[0016] As a further description of the above technical solution:

[0017] The front end of the valve is rotatably connected to the rear end of the outer arm, and the inside of the connector is fixedly connected to the outside of the outer arm.

[0018] As a further description of the above technical solution:

[0019] The bottom end of the support shaft is fixedly connected to the top end of the inner arm, and the left end of the fixing frame is fixedly connected to the right end of the feed pipe.

[0020] This utility model has the following beneficial effects:

[0021] 1. In this utility model, the position of the loading arm is monitored by an explosion-proof camera. The operator sends electrical signals to servo motor 1, servo motor 2 and servo motor 3 based on the monitored position of the loading arm. Servo motor 1 drives rotary joint 1 to rotate the inner arm at the top of the feed pipe. Servo motor 2 drives rotary joint 2 to rotate the middle arm at the top of the inner arm. Servo motor 3 drives rotary joint 3 to rotate the outer arm at the front end of the middle arm, thereby achieving the effect of automatic control of loading arm alignment.

[0022] 2. In this utility model, with the cooperation of the outer arm and the connector, the hanging tube rotates inside the connector while rotating at the rear end of the outer arm. Under the action of gravity, the hanging tube always rotates and hangs towards the ground, while keeping the explosion-proof camera fixed outside the hanging tube at the same angle, so that the hanging tube is always vertical. Attached Figure Description

[0023] Figure 1 This is a three-dimensional schematic diagram of the automatic control positioning arm proposed in this utility model;

[0024] Figure 2 This is a schematic diagram of the outer arm of the automatic control positioning arm proposed in this utility model.

[0025] Legend:

[0026] 1. Loading arm column; 2. Fixing frame; 3. Feed pipe; 4. Rotary joint one; 5. Servo motor one; 6. Inner arm; 7. Support shaft; 8. Support frame; 9. Rotary joint two; 10. Servo motor two; 11. Middle arm; 12. Rotary joint three; 13. Servo motor three; 14. Outer arm; 15. Cylinder bracket; 16. Spring cylinder; 17. Limit plate; 18. Connector; 19. Drooping tube; 20. Valve; 21. Explosion-proof camera. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Reference Figure 1 This utility model provides an embodiment of an automatically controlled positioning arm, including a feed pipe 3, with a rotary joint 4 fixedly connected to the top of the feed pipe 3. The feed pipe 3 is made of stainless steel, which can maintain stability during long-term high-intensity operation, ensuring the continuity and stability of feeding. A servo motor 5 is fixedly connected to the outside of the rotary joint 4. The drive end of the servo motor 5 is firmly connected to the rotary joint 4 through a precision mechanical connection device, ensuring that the transmitted power is not affected by external interference. An inner arm 6 is fixedly connected to the drive end of the rotary joint 4. The inner arm 6 is made of stainless steel and has sufficient load-bearing capacity, so that it will not be corroded by liquids or gases during operation. A second rotary joint 9 is fixedly connected to the top of the inner arm 6. A second servo motor 10 is fixedly connected to the outside of the second rotary joint 9. The second servo motor 10 has high response speed and high-precision control capabilities, and can accurately adjust the rotation angle of the second rotary joint 9, ensuring that the middle arm 11 rotates on an accurate trajectory. The drive end of the rotary joint 29 is fixedly connected to the middle arm 11. The middle arm 11 is made of stainless steel, which ensures that it is not easily deformed under long-term, high-load operation conditions and has better durability and fatigue resistance.

[0029] Rotary joint 12 is fixedly connected to the front end of the middle arm 11. A servo motor 13 is fixedly connected to the outside of rotary joint 12. The precise drive of servo motor 13 enables rotary joint 12 to rotate smoothly, further improving the positioning accuracy of the outer arm 14. The drive end of rotary joint 12 is fixedly connected to the outer arm 14, which is made of stainless steel, possessing high rigidity and bending resistance, making it less prone to positional deviation during operation and ensuring the accuracy of the alignment process. Rotary joints 1-4, 2-9, and 3-12 all use servo-powered rotary joints, possessing high reliability, high stability, and a long service life of over 10 years, and are easy to maintain. In the event of serious malfunctions such as power outages in servo motors 1-5, 2-10, and 3-13, the rotation of the inner arm 6, middle arm 11, and outer arm 14 can be manually controlled. With a simple conversion, it can be used like a regular loading arm. A cylinder bracket 15 is fixedly connected to the rear end of the outer boom 14. The cylinder bracket 15 is made of reinforced steel to ensure that it can withstand the reverse force generated by the outer boom 14 during operation, and also effectively support the working load of the spring cylinder 16. The spring cylinder 16 is rotatably connected inside the cylinder bracket 15. The spring cylinder 16 has a built-in high-strength spring, which can provide stable support force through the spring's rebound force and the adjustment of the spring cylinder 16, thereby maintaining the stability of the outer boom 14 and avoiding displacement problems caused by the excessive length of the outer boom 14. A limit plate 17 is slidably connected to the drive end of the spring cylinder 16. The limit plate 17 works with the spring inside the spring cylinder 16 to effectively limit the range of motion of the outer boom 14, preventing the outer boom 14 from deviating beyond the set range, thereby maintaining the accuracy of operation.

[0030] The rear end of the outer arm 14 is rotatably connected to a guide assembly, and an explosion-proof camera 21 is fixedly connected to the outside of the guide assembly. The explosion-proof camera 21 monitors the entire process of the loading arm alignment by capturing real-time images of the external environment, ensuring that all equipment can operate precisely according to the preset trajectory during the alignment process. When the worker needs to align the loading arm, the explosion-proof camera 21 is activated. The AI ​​vision function locates the tank truck opening based on the image captured by the explosion-proof camera 21. The AI ​​can control the accuracy to within 5mm, and then compares the position of the loading arm with the AI ​​vision positioning. The worker in the control room uses dedicated operating software or the worker on site uses manual buttons to send electrical signals to servo motors 5, 10, and 13, activating the control system to precisely adjust the rotation of each servo motor. When the positioning parameters of the loading arm are known or the loading arm has been used, the worker can directly send electrical signals to servo motors 5, 10, and 13 through the operating software, causing the loading arm to automatically move into position or automatically return to its original position.

[0031] Reference Figure 2The guide assembly includes a connector 18, with a rotatable tube 19 internally connected to the connector 18, and a valve 20 internally connected to the rotatable tube 19. The connector 18 is made of high-strength stainless steel, possessing excellent corrosion resistance and mechanical strength, ensuring no wear or corrosion during long-term use, thus guaranteeing the stability and durability of the entire guide assembly. The rotatable tube 19 is internally connected to the connector 18 via a precision rotating bearing. This design allows the rotatable tube 19 to rotate smoothly and steadily within the connector 18, preventing jamming or damage caused by friction during operation.

[0032] During operation, the pendant tube 19 rotates freely under the influence of gravity, ensuring that the discharge port at the bottom of the pendant tube 19 remains vertically downward. This structural design effectively utilizes the natural effect of gravity, allowing the pendant tube 19 to be precisely positioned without additional power, maintaining a stable discharge port direction, thereby avoiding instability or deviation during material flow. The rotation of the pendant tube 19 also keeps the explosion-proof camera 21 in the same position, thus preventing displacement of the explosion-proof camera 21 during shooting and ensuring a consistent shooting angle.

[0033] The explosion-proof camera 21, through its fixed connection with the hanging tube 19, ensures that the camera's shooting angle will not cause data errors due to changes in the equipment's position. This is especially important in situations requiring precise shooting, particularly when the loading arm is used to transport flammable or explosive liquids or gases. Improper camera positioning can lead to measurement errors that may cause liquid or gas leaks and production accidents. This design greatly improves the stability and accuracy of the shooting, helping to obtain clear and consistent image data, thereby providing high-quality evidence for subsequent analysis.

[0034] Reference Figures 1 to 2 The support components include the loading arm column 1, which is the basic support component of the entire loading arm. Its structural design ensures the stability and safety of the entire system. A fixing frame 2 is fixedly connected to the left end of the loading arm column 1. The fixing frame 2 is connected to the feed pipe 3 through a fixed structure, stabilizing the overall structure of the loading arm. The fixing frame 2 not only fixes the feed pipe 3 but also provides stable support for the loading arm during use, preventing excessive swaying or displacement. A support frame 8 is fixedly connected to the top of the loading arm column 1. The support frame 8 is rotatably connected to the support shaft 7, further enhancing the flexibility and stability of the overall structure.

[0035] The support shaft 7 is located at the left end of the support frame 8, and its bottom end is fixedly connected to the top end of the inner arm 6. Through this connection, the support shaft 7 transmits the supporting force from the support frame 8, ensuring that the inner arm 6 receives the necessary support force during rotation, maintaining its operational stability and accuracy. The connection design between the support shaft 7 and the inner arm 6 ensures that the inner arm 6 can rotate smoothly during loading arm operation and effectively support the movement of other arm tubes. The bottom end of the inner arm 6 is rotatably connected to the top end of the feed pipe 3, enabling the feed pipe 3 to rotate and be positioned smoothly when driven by the servo motor 5. The connection between the inner arm 6 and the middle arm 11 is achieved through rotation, with the top end of the inner arm 6 rotatably connected to the bottom end of the middle arm 11. This design allows for a large range of motion in both the inner arm 6 and the middle arm 11 during operation, ensuring that the loading arm can flexibly dock with the tank truck opening. The connection between the middle arm 11 and the outer arm 14 is also rotatably connected, with the rear end of the outer arm 14 rotatably connected to the front end of the middle arm 11.

[0036] The outer arm 14 bears a significant load during operation, making its connection method crucial. The middle arm 11 is rotatably connected to the outer arm 14, enabling precise control and rotation of the outer arm 14 under the drive of the servo motor 13, thus achieving precise positioning and operation of the loading arm. After docking, the drooping pipe 19 is rotatably connected to the outside of the outer arm 14 via the connector 18, allowing the gas or liquid to be transported to be transported through the outer arm 14 into the drooping pipe 19, and then output through the discharge port at the bottom of the drooping pipe 19 for canning or loading onto a vehicle.

[0037] Working principle: When the operator needs to align the loading arm, the explosion-proof camera 21 is activated. Based on the image captured by the explosion-proof camera 21, the tank truck opening is positioned using AI vision function. Then, the operator in the control room sends electrical signals to servo motors 5, 10, and 13 via operating software or manual buttons on site. Servo motor 5 provides power to rotary joint 4, which drives the inner arm 6 to rotate at the top of the feed pipe 3. Servo motor 10 provides power to rotary joint 9, which drives the middle arm 11 to rotate at the top of the inner arm 6. Servo motor 13 provides power to rotary joint 12, which drives the outer arm 14 to rotate at the top of the middle arm 11. While the inner arm 6, middle arm 11, and outer arm 14 are rotating, the spring cylinder 16 rotates inside the cylinder support 15. At the same time, the spring cylinder 16 and the limit plate 17 provide support force to the outer arm 14 with the cooperation of the spring inside the spring cylinder 16, preventing the outer arm 14 from shifting due to excessive length.

[0038] After the arm tube is aligned, the drooping tube 19 rotates inside the connector 18 under the action of gravity, so that the discharge port at the bottom of the drooping tube 19 remains vertically downward. At the same time, the drooping tube 19 drives the explosion-proof camera 21 to stay in the same position, so as to avoid errors caused by positional shifts during the shooting process of the explosion-proof camera 21.

[0039] When using the loading arm, fix the loading arm column 1 to the ground or a bracket. The loading arm column 1 provides support to the fixing frame 2. The fixing frame 2 provides support to the entire loading arm through the fixing structure with the feed pipe 3. At the same time, the loading arm column 1 provides support to the support frame 8 fixed at the top of the loading arm column 1. The support frame 8 is rotatably connected to the support shaft 7, so that the support frame 8 provides support to the support shaft 7 without affecting the rotation of the inner arm 6.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic control positioning arm, including a feed pipe (3), characterized in that: A rotary joint one (4) is fixedly connected to the top end of the feed pipe (3). A servo motor one (5) is fixedly connected to the outside of the rotary joint one (4). An inner arm (6) is fixedly connected to the drive end of the rotary joint one (4). A rotary joint two (9) is fixedly connected to the top end of the inner arm (6). A servo motor two (10) is fixedly connected to the outside of the rotary joint two (9). A middle arm (11) is fixedly connected to the drive end of the rotary joint two (9). A rotary joint three (12) is fixedly connected to the front end of the middle arm (11). The external fixed connection of the rotary joint (12) is a servo motor (13), the drive end of the rotary joint (12) is fixedly connected to an outer arm (14), the rear end of the outer arm (14) is fixedly connected to a cylinder bracket (15), the inside of the cylinder bracket (15) is rotatably connected to a spring cylinder (16), the drive end of the spring cylinder (16) is slidably connected to a limit plate (17), the rear end of the outer arm (14) is rotatably connected to a guide assembly, the outside of the guide assembly is fixedly connected to an explosion-proof camera (21), and the right end of the feed pipe (3) is fixedly connected to a support assembly.

2. The automatic control positioning arm according to claim 1, characterized in that: The guide assembly includes a connector (18), a dangling tube (19) is rotatably connected inside the connector (18), and a valve (20) is rotatably connected inside the dangling tube (19).

3. The automatic control positioning arm according to claim 1, characterized in that: The support assembly includes an arm-mounted column (1), a fixing frame (2) is fixedly connected to the left end of the arm-mounted column (1), a support frame (8) is fixedly connected to the top end of the arm-mounted column (1), and a support shaft (7) is rotatably connected to the left end of the support frame (8).

4. The automatic control positioning arm according to claim 1, characterized in that: The top end of the feed tube (3) is rotatably connected to the bottom end of the inner arm (6), and the top end of the inner arm (6) is rotatably connected to the bottom end of the middle arm (11).

5. The automatic control positioning arm according to claim 1, characterized in that: The front end of the middle arm (11) is rotatably connected to the rear end of the outer arm (14), and the drive end of the servo motor (5) is rotatably connected inside the rotary joint (4).

6. The automatic control positioning arm according to claim 1, characterized in that: The drive end of the second servo motor (10) is rotatably connected inside the second rotary joint (9), and the drive end of the third servo motor (13) is rotatably connected inside the third rotary joint (12).

7. The automatic control positioning arm according to claim 2, characterized in that: The front end of the valve (20) is rotatably connected to the rear end of the outer arm (14), and the interior of the connector (18) is fixedly connected to the exterior of the outer arm (14).

8. The automatic control positioning arm according to claim 3, characterized in that: The bottom end of the support shaft (7) is fixedly connected to the top end of the inner arm (6), and the left end of the fixing frame (2) is fixedly connected to the right end of the feed pipe (3).

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